Localization and Mapping in Large Environments Using Ultrasonic Sensors

Type | PhD project
Duration | -
Project leader Antoni Burguera Burguera
Collaborators Yolanda González Cid | Gabriel Oliver Codina

FOCUS

Localization and map building by means of a mobile robot carrying ultrasonic sensors. Part of the research also focuses on navigation strategies, as they are related to localization and mapping. Main results of this research are the ATHRAIA control architecture and the SEFIROT simulator.

DESCRIPTION

ATHRAIA (Advanced Three-layer Hybrid Robot Architecture for Intelligent Autonomy ) is a hybrid three-layer SLAM oriented robot control architecture organized in the three standard layers (Planning, Coordination and Behavior) and one World Modeller. It is able to guide a mobile robot safely through the environment, planning the paths to accomplish the mission, while building both topological and metric maps and correcting the errors in the robot position estimation.These tasks are performed without previous information about the environment or the robot position. SEFIRoT (Simulation Environment For Intelligent Robot Testing) is a graphical simulation environment for mobile robot and control architecture testing. Through this tool the user can change the simulation parameters easily, even during the simulation, and to see results through graphical items at any moment. The information to be displayed can be selected through the GUI, being the user able to concentrate on specific aspects of the simulation.

PUBLICATIONS

A. Burguera. ATHRAIA: Una Arquitectura de Control Híbrida per a la Construcció de Mapes Topològics i la Correcció de la Posició Durant la Navegació. 2003.

A. Burguera, Y. González, G. Oliver. The sNDT: A Grid-Based Likelihood Field Approach to Robust and Accurate Sonar Scan Matching Localization. 2007.

A. Burguera. Towards Mapping and Localization in Large Environments Using Ultrasonic Sensors. 2006.

A. Burguera, Y. González, G. Oliver. Achieving Accurate Mobile Robot Localization by Combining Topological Maps and Raw Sonar Readings. In XXVI Jornadas de Automática 2005 (JA), Alacant (Spain), 2005.

A. Burguera, G. Oliver, J. D. Tardos. Robust Scan Matching Localization Using Ultrasonic Range Finders. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton (Canada), 2005.

A. Burguera, Y. González, G. Oliver. Exploring an Unknown Environment with a Mobile Robot. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Lisbon (Portugal), 2004.

A. Burguera, Y. González, G. Oliver. A Robust System for Localization and Mapping While Navigating. In International Conference on Advanced Robotics (ICAR), Coimbra (Portugal), 2003.

A. Burguera, Y. González, G. Oliver. ATHRAIA: A Hybrid Control Architecture for a World Modeller Robot. In European Conference on Mobile Robots (ECMR), Radziejowice (Poland), 2003.

A. Burguera, Y. González, G. Oliver. An Intelligent System for Simultaneous World Modelling and Localization. In 6th Catalan Conference on Artificial Intelligence (CCIA, Artificial Intelligence Research and Development, vol. 100 - IOS Press), Palma de Mallorca (Spain), 2003.

A. Burguera, Y. González, G. Oliver. Probabilistic Filtering of Sonar Data. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse (France), 2007.

A. Burguera, Y. González, G. Oliver. Probabilistic Sonar Scan Matching for Robust Localization. In IEEE International Conference on Robotics and Automation (ICRA), Rome (Italy), 2007.

A. Burguera, Y. González, G. Oliver. Probabilistic Sonar Filtering in Scan Matching Localization. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego (USA), 2007.

A. Burguera, Y. González, G. Oliver. Sonar Scan Matching by Filtering Scans using Grids of Normal Distributions. In International Conference on Intelligent Autonomous Systems (IAS), Baden Baden (Germany), 2008.

A. Burguera, Y. González, G. Oliver. The Likelihood Field approach to Sonar Scan Matching. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice (France), 2008.

A. Burguera, G. Oliver, A. Ortiz. Una herramienta para la experimentación con una celda robótica realimentada por visión. In Jornadas de Enseñanza Universitaria de Informática (JENUI), 2001.

A. Burguera, Y. González, G. Oliver. Mobile Robot Localization using Particle Filters and Sonar Sensors. In Advances in Sonar Technology, InTech Open, Sergio Rui Silva, pp. 213—232, 2009.

A. Burguera, Y. González, G. Oliver. A Solution for Integrating Map Building and Self Localization Strategies in Mobile Robotics. In International Journal of Intelligent Systems, vol. 20, no. 5, pp. 499--521, 2005.

A. Burguera, Y. González, G. Oliver. Sonar Sensor Models and Their Application to Mobile Robot Localization. In Sensors (MDPI), vol. 9, no. 12, pp. 10217--10243, 2009.

A. Burguera, Y. González, G. Oliver. On the use of likelihood fields to perform sonar scan matching localization. In Autonomous Robots, vol. 26, no. 4, pp. 203--222, 2009.

A. Burguera, Y. González, G. Oliver. A Probabilistic Framework for Sonar Scan Matching Localization. In Advanced Robotics, vol. 22, no. 11, pp. 1223--1241, 2008.


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